Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

12 files changed, 965 insertions, 52 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
index 93ce6cf51..fcede699f 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
@@ -859,9 +859,14 @@ PinoutSet(void)
     // Configure the GPIO Pin Mux for PR0
 	// for I2C1SCL
     //
-	MAP_GPIOPinConfigure(GPIO_PR0_I2C1SCL);
-	MAP_GPIOPinTypeI2CSCL(GPIO_PORTR_BASE, GPIO_PIN_0);
+	//MAP_GPIOPinConfigure(GPIO_PR0_I2C1SCL);
+	//MAP_GPIOPinTypeI2CSCL(GPIO_PORTR_BASE, GPIO_PIN_0);
 
+    #ifdef USE_UART4_FOR_BTSR
+	// Configure the GPIO Pin PR0 for BTSR RS485 UART  - Set as output to change to uart4 RS485 Direction:
+	ROM_GPIOPinTypeGPIOOutput(GPIO_PORTR_BASE, GPIO_PIN_0);
+	ROM_GPIOPinWrite(GPIO_PORTR_BASE, GPIO_PIN_0, 0);
+    #endif
     //
     // Configure the GPIO Pin Mux for PR1
 	// for I2C1SDA
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 291c94e9d..1bed505f2 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -20,7 +20,7 @@
 #define NO_INITIAL_HEATING
 #define MAX_STRING_LEN              255 //Embedded  version + filter.c
 
-#define WATCHDOG
+//#define WATCHDOG
 //#define DISPESER_TEST
 //#define FPGA_WATCHDOG_DISABLE
 
@@ -32,7 +32,11 @@
 #ifdef FOUR_WINDERS
 #define BTSR_NO_FEEDER_TFU
 #define BTSR_NO_PULLER_TFU
+#define BTSR_ROTATED_WINDER_TFU
 #endif
+//#define BTSR_ROTATED_WINDER_TFU
+
+#define USE_UART4_FOR_BTSR // need change in FRPGA FPGA_1 yy > 0x20 + jumpers in main board need to read HW Version
 
 //#define USE_RFID_STUB //stub only. to use it undef USE_RFID_LOGIC
 //#define RFID_READ_ONLY //
@@ -152,6 +156,9 @@ typedef enum
 #define TX 0
 #define RX 1
 #define TXRX 2
+#define TX_FIRST_BYTE 3     //for BTSR
+#define TX_NOT_FIRST_BYTE 4 //for BTSR
+
 #define ODD         0
 #define EVEN        1
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/ff.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/ff.c
index 66f209421..632dfb0d5 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/ff.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/ff.c
@@ -98,7 +98,9 @@
 
 #include "ff.h"			/* FatFs configurations and declarations */
 //#include "diskio.h"		/* Declarations of low level disk I/O functions */
+#include <DataDef.h>
 #include "third_party/fatfs/src/diskio.h"
+#include "Common/report/report.h"
 
 
 /*--------------------------------------------------------------------------
@@ -894,7 +896,10 @@ FRESULT put_fat (
 
 
 	if (clst < 2 || clst >= fs->n_fatent) {	/* Check range */
-		res = FR_INT_ERR;
+	    {
+	        res = FR_INT_ERR;
+	        Report("put_fat FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)fs->n_fatent,0);
+	    }
 
 	} else {
 		switch (fs->fs_type) {
@@ -929,6 +934,8 @@ FRESULT put_fat (
 
 		default :
 			res = FR_INT_ERR;
+            Report("put_fat FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)fs->fs_type,0);
+
 		}
 		fs->wflag = 1;
 	}
@@ -958,13 +965,16 @@ FRESULT remove_chain (
 
 	if (clst < 2 || clst >= fs->n_fatent) {	/* Check range */
 		res = FR_INT_ERR;
-
+        Report("remove_chain FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)fs->n_fatent,0);
 	} else {
 		res = FR_OK;
 		while (clst < fs->n_fatent) {			/* Not a last link? */
 			nxt = get_fat(fs, clst);			/* Get cluster status */
 			if (nxt == 0) break;				/* Empty cluster? */
-			if (nxt == 1) { res = FR_INT_ERR; break; }	/* Internal error? */
+			if (nxt == 1) {
+			    res = FR_INT_ERR;
+		        Report("remove_chain FR_INT_ERR",__FILE__,__LINE__,(int)res,RpWarning,(int)fs->n_fatent,0);
+			    break; }	/* Internal error? */
 			if (nxt == 0xFFFFFFFF) { res = FR_DISK_ERR; break; }	/* Disk error? */
 			res = put_fat(fs, clst, 0);			/* Mark the cluster "empty" */
 			if (res != FR_OK) break;
@@ -1097,14 +1107,20 @@ FRESULT dir_sdi (
 	dj->index = idx;
 	clst = dj->sclust;
 	if (clst == 1 || clst >= dj->fs->n_fatent)	/* Check start cluster range */
+	{
+        Report("dir_sdi FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)dj->fs->n_fatent,0);
 		return FR_INT_ERR;
+	}
 	if (!clst && dj->fs->fs_type == FS_FAT32)	/* Replace cluster# 0 with root cluster# if in FAT32 */
 		clst = dj->fs->dirbase;
 
 	if (clst == 0) {	/* Static table (root-dir in FAT12/16) */
 		dj->clust = clst;
 		if (idx >= dj->fs->n_rootdir)		/* Index is out of range */
-			return FR_INT_ERR;
+		{
+	        Report("dir_sdi FR_INT_ERR",__FILE__,__LINE__,(int)idx,RpWarning,(int)dj->fs->n_rootdir,0);
+	        return FR_INT_ERR;
+		}
 		dj->sect = dj->fs->dirbase + idx / (SS(dj->fs) / SZ_DIR);	/* Sector# */
 	}
 	else {				/* Dynamic table (sub-dirs or root-dir in FAT32) */
@@ -1113,7 +1129,10 @@ FRESULT dir_sdi (
 			clst = get_fat(dj->fs, clst);				/* Get next cluster */
 			if (clst == 0xFFFFFFFF) return FR_DISK_ERR;	/* Disk error */
 			if (clst < 2 || clst >= dj->fs->n_fatent)	/* Reached to end of table or int error */
+			{
+		        Report("dir_sdi FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)dj->fs->n_fatent,0);
 				return FR_INT_ERR;
+			}
 			idx -= ic;
 		}
 		dj->clust = clst;
@@ -2558,7 +2577,10 @@ FRESULT f_write (
 	res = validate(fp);						/* Check validity */
 	if (res != FR_OK) LEAVE_FF(fp->fs, res);
 	if (fp->flag & FA__ERROR)				/* Aborted file? */
+	{
+        Report("f_write FR_INT_ERR",__FILE__,__LINE__,(int)fp->flag,RpWarning,(int)btw,0);
 		LEAVE_FF(fp->fs, FR_INT_ERR);
+	}
 	if (!(fp->flag & FA_WRITE))				/* Check access mode */
 		LEAVE_FF(fp->fs, FR_DENIED);
 	if ((DWORD)(fp->fsize + btw) < fp->fsize) btw = 0;	/* File size cannot reach 4GB */
@@ -2596,7 +2618,11 @@ FRESULT f_write (
 			}
 #endif
 			sect = clust2sect(fp->fs, fp->clust);	/* Get current sector */
-			if (!sect) ABORT(fp->fs, FR_INT_ERR);
+			if (!sect)
+			{
+		        Report("f_write FR_INT_ERR",__FILE__,__LINE__,(int)sect,RpWarning,(int)btw,0);
+			    ABORT(fp->fs, FR_INT_ERR);
+			}
 			sect += csect;
 			cc = btw / SS(fp->fs);			/* When remaining bytes >= sector size, */
 			if (cc) {						/* Write maximum contiguous sectors directly */
@@ -2886,7 +2912,10 @@ FRESULT f_lseek (
 	res = validate(fp);					/* Check validity of the object */
 	if (res != FR_OK) LEAVE_FF(fp->fs, res);
 	if (fp->flag & FA__ERROR)			/* Check abort flag */
+	{
+        Report("f_lseek FR_INT_ERR",__FILE__,__LINE__,(int)fp->flag,RpWarning,(int)FA__ERROR,0);
 		LEAVE_FF(fp->fs, FR_INT_ERR);
+	}
 
 #if _USE_FASTSEEK
 	if (fp->cltbl) {	/* Fast seek */
@@ -2969,7 +2998,11 @@ FRESULT f_lseek (
 #if !_FS_READONLY
 				if (clst == 0) {						/* If no cluster chain, create a new chain */
 					clst = create_chain(fp->fs, 0);
-					if (clst == 1) ABORT(fp->fs, FR_INT_ERR);
+					if (clst == 1)
+                    {
+                        Report("f_lseek FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)FA__ERROR,0);
+                        ABORT(fp->fs, FR_INT_ERR);
+                    }
 					if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR);
 					fp->sclust = clst;
 				}
@@ -2988,7 +3021,11 @@ FRESULT f_lseek (
 #endif
 						clst = get_fat(fp->fs, clst);	/* Follow cluster chain if not in write mode */
 					if (clst == 0xFFFFFFFF) ABORT(fp->fs, FR_DISK_ERR);
-					if (clst <= 1 || clst >= fp->fs->n_fatent) ABORT(fp->fs, FR_INT_ERR);
+					if (clst <= 1 || clst >= fp->fs->n_fatent)
+					{
+			            Report("f_lseek FR_INT_ERR",__FILE__,__LINE__,(int)clst,RpWarning,(int)fp->fs->n_fatent,0);
+					    ABORT(fp->fs, FR_INT_ERR);
+					}
 					fp->clust = clst;
 					fp->fptr += bcs;
 					ofs -= bcs;
@@ -2996,7 +3033,11 @@ FRESULT f_lseek (
 				fp->fptr += ofs;
 				if (ofs % SS(fp->fs)) {
 					nsect = clust2sect(fp->fs, clst);	/* Current sector */
-					if (!nsect) ABORT(fp->fs, FR_INT_ERR);
+					if (!nsect)
+					{
+                        Report("f_lseek FR_INT_ERR",__FILE__,__LINE__,(int)nsect,RpWarning,(int)0,0);
+					    ABORT(fp->fs, FR_INT_ERR);
+					}
 					nsect += ofs / SS(fp->fs);
 				}
 			}
@@ -3184,7 +3225,10 @@ FRESULT f_getfree (
 				do {
 					stat = get_fat(fs, clst);
 					if (stat == 0xFFFFFFFF) { res = FR_DISK_ERR; break; }
-					if (stat == 1) { res = FR_INT_ERR; break; }
+					if (stat == 1)
+					{
+                        Report("f_getfree FR_INT_ERR",__FILE__,__LINE__,(int)stat,RpWarning,(int)0,0);
+					    res = FR_INT_ERR; break; }
 					if (stat == 0) n++;
 				} while (++clst < fs->n_fatent);
 			} else {
@@ -3233,6 +3277,7 @@ FRESULT f_truncate (
 	res = validate(fp);						/* Check validity of the object */
 	if (res == FR_OK) {
 		if (fp->flag & FA__ERROR) {			/* Check abort flag */
+            Report("f_truncate FR_INT_ERR",__FILE__,__LINE__,(int)fp->flag,RpWarning,(int)0,0);
 			res = FR_INT_ERR;
 		} else {
 			if (!(fp->flag & FA_WRITE))		/* Check access mode */
@@ -3250,7 +3295,11 @@ FRESULT f_truncate (
 				ncl = get_fat(fp->fs, fp->clust);
 				res = FR_OK;
 				if (ncl == 0xFFFFFFFF) res = FR_DISK_ERR;
-				if (ncl == 1) res = FR_INT_ERR;
+				if (ncl == 1)
+				{
+		            Report("f_truncate FR_INT_ERR",__FILE__,__LINE__,(int)ncl,RpWarning,(int)0,0);
+		            res = FR_INT_ERR;
+				}
 				if (res == FR_OK && ncl < fp->fs->n_fatent) {
 					res = put_fat(fp->fs, fp->clust, 0x0FFFFFFF);
 					if (res == FR_OK) res = remove_chain(fp->fs, ncl);
@@ -3301,6 +3350,7 @@ FRESULT f_unlink (
 			dclst = ld_clust(dj.fs, dir);
 			if (res == FR_OK && (dir[DIR_Attr] & AM_DIR)) {	/* Is it a sub-dir? */
 				if (dclst < 2) {
+		            Report("f_unlink FR_INT_ERR",__FILE__,__LINE__,(int)dclst,RpWarning,(int)0,0);
 					res = FR_INT_ERR;
 				} else {
 					mem_cpy(&sdj, &dj, sizeof (DIR));	/* Check if the sub-dir is empty or not */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
index 854153218..a600c3b9f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c
@@ -497,10 +497,10 @@ double CalculateWHSWasteTankLevelMiliLiter()
 
     get_vlev1(&Vm_mv);//mV (VREF = 4.096V 12bit so 1bit is 1mV)
 
-    //Report("***** get waste level in mV  ********", __FILE__, __LINE__, 0, RpMessage, (int)(Vm_mv), 0);
-
     Vm_ml = Vm_mv  * 1500/mvfor1500mL;
 
+    Report("***** get waste level in mV  ********", __FILE__, __LINE__, (int)(Vm_ml), RpMessage, (int)(Vm_mv), 0);
+
     if(Vm_ml < LocalV0_ml)
     {
         //LocalV0_ml = Vm_ml;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
index ea45c89fe..30565df7d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.c
@@ -716,16 +716,18 @@ bool WHS_Reset_485(bool value)
 
 uint8_t RS485_Change_Direction(bool TX_OR_RX)//TX or RX - trigger i2c task
 {
-    if(TX_OR_RX == TX)
+    if((TX_OR_RX == TX) && (Whs_I2C_EXP_U4_0x42_VALUE.bits.VALUE_ACTLOW_DE_REn != true))
+    {
         Whs_I2C_EXP_U4_0x42_VALUE.bits.VALUE_ACTLOW_DE_REn = true;
-    else
+        WHS_Write_IO(I2CExp2_ADDRESS,D_TCA9555_PORT_0);
+    }
+    else if((TX_OR_RX == RX) && (Whs_I2C_EXP_U4_0x42_VALUE.bits.VALUE_ACTLOW_DE_REn != false))
+    {
         Whs_I2C_EXP_U4_0x42_VALUE.bits.VALUE_ACTLOW_DE_REn = false;
-
-    WHS_Write_IO(I2CExp2_ADDRESS,D_TCA9555_PORT_0);
-
+        WHS_Write_IO(I2CExp2_ADDRESS,D_TCA9555_PORT_0);
+    }
     return OK;
-
-};
+}
 
 uint8_t RS485_Direction(bool TX_OR_RX)//TX or RX
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
new file mode 100644
index 000000000..12699a1fd
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.c
@@ -0,0 +1,630 @@
+/*
+ * BTSR.c
+ *
+ *  Created on: 1 Dec 2020
+ *      Author: avi
+ */
+
+#include "include.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <ti/sysbios/hal/Hwi.h>
+#include <xdc/runtime/Error.h>
+#include <xdc/runtime/System.h>
+
+#include <inc/hw_ints.h>
+
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "driverlib/gpio.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/rom.h"
+#include "driverlib/rom_map.h"
+#include "driverlib/sysctl.h"
+#include "driverlib/interrupt.h"
+#include "utils/uartstdio.h"
+#include "driverlib/uart.h"
+
+//#include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
+#include "Modules/Control/MillisecTask.h"
+#include <DataDef.h>
+#include <Drivers/I2C_Communication/I2C_Task.h>
+//#include "Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
+#include "Drivers/FPGA/FPGA_Comm.h"
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
+
+
+
+static uint32_t GlobalClk;
+uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
+uint16_t  TX_Timeout = 0xFFFF;//6250
+uint16_t  RX_Timeout = 0xFFFF;//1
+
+typedef enum
+{
+    BTSR_UART_CONFIG_PAR_1 = (UART_CONFIG_WLEN_8 |UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_ONE),
+    BTSR_UART_CONFIG_PAR_0 = (UART_CONFIG_WLEN_8 |UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_ZERO),
+}UAR_CFG;
+UAR_CFG BTSR_UART_CONFIG;
+
+uint8_t txlen = 0;
+uint8_t txcounter = 0, rxcounter = 0;
+uint8_t BTSR_TX_Buff[Max_BTSR_TX_Bytes];
+
+
+uint8_t RX_Int_Counter = 0, RT_Int_Counter = 0, TX_Int_Counter = 0;
+
+uint8_t UART4_RS485_Direction(bool TX_OR_RX)//TX or RX
+{
+    ROM_GPIOPinWrite(GPIO_PORTR_BASE, GPIO_PIN_0, !(TX_OR_RX));
+
+    return OK;
+}
+void U4TX()
+{
+    UARTIntEnable(UART4_BASE, UART_INT_TX);
+    ROM_UARTCharPutNonBlocking(UART4_BASE,BTSR_TX_Buff[txcounter]);
+}
+void U4RX()
+{
+    UARTIntEnable(UART4_BASE, UART_INT_TX);
+    BTSR_RX_Buff[rxcounter] = ROM_UARTCharGetNonBlocking(UART4_BASE);//Receive data
+    rxcounter++;
+
+
+}
+
+void uart4_intHandler()
+{
+    static uint8_t nop = 0;
+    //Get interrupt flags
+    unsigned long status = UARTIntStatus(UART4_BASE, 1);
+
+    //Clear flags
+    UARTIntClear(UART4_BASE, status);
+
+    //Treat both of these interrupts the same
+    if(status & UART_INT_RX)
+    {
+        RX_Int_Counter++;
+        U4RX();
+    }
+    else
+    if(status & UART_INT_RT) /// Receive Timeout Interrupt
+    {
+        RT_Int_Counter++;
+        U4RX();
+    }
+    if(status & UART_INT_TX)
+    {
+        UARTIntDisable(UART4_BASE, UART_INT_TX);
+
+        TX_Int_Counter++;
+
+        BTSR_Change_Comm_Mode(TX_NOT_FIRST_BYTE);
+        txcounter++;
+        if(txcounter >= txlen )
+         {
+            txcounter = 0;
+            rxcounter = 0;
+
+            BTSR_Change_Comm_Mode(RX);
+            UARTIntEnable(UART4_BASE, UART_INT_RT | UART_INT_RX);
+
+         }
+        else
+        {
+            U4TX();
+        }
+
+    }
+
+}
+
+
+
+
+void InitConsole_BTSR_UART4(int32_t ui32SysClock)
+{
+
+    ROM_IntMasterDisable();
+
+    GlobalClk = ui32SysClock;
+
+    //uint32_t ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), SYS_CLK_FREQ);
+
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
+    //
+    // Enable GPIO port A which is used for UART4 pins.
+    // TODO: change this to whichever GPIO port you are using.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
+
+    SysCtlDelay(3);
+
+    //
+    // Configure the pin muxing for UART4 functions on port A0 and A1.
+    // This step is not necessary if your part does not support pin muxing.
+    //
+    MAP_GPIOPinConfigure(GPIO_PA2_U4RX);
+    MAP_GPIOPinConfigure(GPIO_PA3_U4TX);
+
+    //
+    // Enable UART4 so that we can configure the clock.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
+
+    SysCtlDelay(3);
+
+    //
+    // Use the internal 16MHz oscillator as the UART clock source.
+    //
+    UARTClockSourceSet(UART4_BASE, UART_CLOCK_SYSTEM);//UART_CLOCK_PIOSC);
+
+    //
+    // Select the alternate (UART) function for these pins.
+    //
+    MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_3);
+
+    //
+    // Initialize the UART for console I/O.
+    //
+    UARTFIFOEnable(UART4_BASE);
+
+    MAP_UARTConfigSetExpClk(UART4_BASE, ui32SysClock, 57600,(UART_CONFIG_WLEN_7 |UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_ONE));//BTSR protocol
+    UART4_RS485_Direction(TX);
+
+    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+    //Set UART FIFO level to 1/2
+    //UARTFIFOLevelSet(UART4_BASE, UART_FIFO_TX7_8, UART_FIFO_RX1_8);
+//
+//    //Register interrupt handler
+//    UARTIntRegister(UART4_BASE, uart4_intHandler);
+//
+    //
+        // Configure and enable UART interrupts.
+        //
+        ROM_UARTIntClear(UART4_BASE, ROM_UARTIntStatus(UART4_BASE, false));
+        //Declare HWI dynamically  "TI-RTOS Kernel User's Guide" Page. 167 or Section 8.2.1
+        Hwi_Handle Uart4Hwi;
+        Error_Block eb;
+        Error_init(&eb);
+        Uart4Hwi = Hwi_create(INT_UART4, uart4_intHandler, NULL, &eb);
+        if (Uart4Hwi == NULL)
+        {
+        System_abort("Uart4Hwi create failed");
+        }
+
+        UARTTxIntModeSet(UART4_BASE, UART_TXINT_MODE_EOT);//generate a TX interrupt when the last character has completed transmission
+
+        //Enable RX and RT interrupts
+    UARTIntEnable(UART4_BASE, /*UART_INT_RT | UART_INT_RX | */UART_INT_TX);
+    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+//#define UART4_CTL_R             (*((volatile uint32_t *)0x40010030))
+//
+//    UART4_CTL_R |= UART_CTL_EOT;// End of Transmission
+
+    ROM_UARTEnable(UART4_BASE);
+    //
+    // Enable interrupts now that the application is ready to start.
+    //
+    ROM_IntEnable(INT_UART4);
+
+
+
+    ROM_IntMasterEnable();
+}
+
+
+unsigned long UARTStatus()
+{
+    return(HWREG(UART4_BASE + UART_O_FR));
+}
+
+bool BTSR_Change_Comm_Mode(uint8_t Mode)
+{
+
+    if(Mode == TX_FIRST_BYTE)
+    {
+        UART4_RS485_Direction(TX);
+
+        Task_sleep (eOneMillisecond);//Doesn't work without it - maybe to change to TX after RX
+        if(BTSR_UART_CONFIG != BTSR_UART_CONFIG_PAR_1)
+        {
+            BTSR_UART_CONFIG = BTSR_UART_CONFIG_PAR_1;
+            MAP_UARTConfigSetExpClk(UART4_BASE, GlobalClk, 57600,BTSR_UART_CONFIG_PAR_1);
+        }
+    }
+    else if(Mode == TX_NOT_FIRST_BYTE)
+    {
+        UART4_RS485_Direction(TX);
+
+        //Task_sleep (eOneMillisecond);
+        if(BTSR_UART_CONFIG != BTSR_UART_CONFIG_PAR_0)
+        {
+            BTSR_UART_CONFIG = BTSR_UART_CONFIG_PAR_0;
+            MAP_UARTConfigSetExpClk(UART4_BASE, GlobalClk, 57600,BTSR_UART_CONFIG_PAR_0);
+        }
+    }
+    else if(Mode == RX)
+    {
+        UART4_RS485_Direction(RX);
+
+        //Task_sleep (eOneMillisecond);
+        if(BTSR_UART_CONFIG != BTSR_UART_CONFIG_PAR_0)
+        {
+            BTSR_UART_CONFIG = BTSR_UART_CONFIG_PAR_0;
+            MAP_UARTConfigSetExpClk(UART4_BASE, GlobalClk, 57600,BTSR_UART_CONFIG_PAR_0);
+        }
+    }
+    return OK;
+}
+
+int Uart4TransmitResult = 0;
+
+uint8_t BTSR_Auto_Identify(uint8_t BTSR_Id)//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
+{
+    uint8_t i = 0;
+    uint8_t FUNCTION_STRING_FD = 0xFD;
+    uint8_t TX_Timeout = 10;
+    uint8_t RX_Timeout = 10;
+
+    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
+    Task_sleep (eOneMillisecond);
+
+    for(i = 0 ;i < 3; i++)
+    {
+
+        Uart4TransmitResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,FUNCTION_STRING_FD);
+        Task_sleep (eOneMillisecond);
+    }
+
+    while(UARTBusy(UART4_BASE) == true)//true if the UART is transmitting, false if all transmissions are complete
+    {
+        if(TX_Timeout)
+        {
+            TX_Timeout--;
+            Task_sleep (eOneMillisecond);
+        }
+        else
+            return ERROR;
+    }
+
+    BTSR_Change_Comm_Mode(RX);
+
+    while(UARTCharsAvail(UART4_BASE) == false);//true if there is data in the receive FIFO or false if there is no data in the receive FIFO
+    {
+        if(RX_Timeout)
+        {
+            RX_Timeout--;
+            Task_sleep (eOneMillisecond);
+        }
+        else
+            return ERROR;
+    }
+    BTSR_RX_Buff[0] = ROM_UARTCharGetNonBlocking(UART4_BASE);//Receive data
+
+    if(BTSR_RX_Buff[0] == 0xFD)
+    {
+        BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
+        Task_sleep (eOneMillisecond);
+        Uart4TransmitResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,BTSR_Id);
+        return OK; //Need to press ENTER in BTSR!
+    }
+    else
+    {
+        return ERROR;
+    }
+}
+
+//////////////////////////////////////////////////
+
+uint8_t BTSR_Calculate_CheckSum(uint8_t *Buf, uint8_t size_without_Checksum)
+{
+    uint8_t i = 0;
+    uint16_t Sum = 0;
+
+    for(i=0;i<(size_without_Checksum);i++)
+    {
+        Sum += Buf[i];
+    }
+    Buf[i] = Sum & 0xFF;
+    Buf[i+1] = Sum >> 8;
+
+    return OK;
+}
+
+uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint8_t *Buf, uint8_t size_include_Checksum)//Function_Code + CODE_STRING needed only for FUNCTION_STRING = 0x33
+{
+    uint8_t Status = OK;
+    uint8_t i = 0;
+    uint16_t Sum = 0;
+
+    //uint8_t temp[10];
+
+    if(size_include_Checksum > 2) // No checkSum for <=2
+    {
+        for(i = 0; i < (size_include_Checksum - 2); i++)
+        {
+            Sum += Buf[i];//Sum Of DATA_STRING
+        }
+
+//        for(i = 0; i < size_include_Checksum ; i++)//debug
+//        {
+//            temp[i] = Buf[i];
+//        }
+
+        if(size_include_Checksum == 6)  //FUNCTION_STRING = 0x33
+        {
+            //Sum Of DATA_STRING, Device Code, Function Code.
+            Sum += Function_Code + CODE_STRING;
+        }
+
+        if( (Buf[size_include_Checksum - 2] != (Sum & 0xFF)) ||
+            (Buf[size_include_Checksum - 1] != (Sum >> 8))      )
+        {
+            Status = ERROR;
+        }
+    }
+    return Status;
+}
+
+
+
+//APPLICATION AND YARN TYPOLOGY SET
+typedef union
+{
+    struct
+    {
+        uint8_t  Code;
+        uint8_t  Function;
+        uint8_t Data[2];
+        uint8_t Check[2];
+    }String;
+    uint8_t Buf[6];
+}BTSR_TYPOLOGY_SET;
+
+BTSR_TYPOLOGY_SET Typology_Set;
+
+uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
+{
+    int TxResult = 0;
+    uint8_t i;
+
+    txlen = size;
+    for(i=0;i<size;i++)
+        BTSR_TX_Buff[i]  = Buf[i];
+
+    UARTIntEnable(UART4_BASE, UART_INT_TX);
+    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
+    //Task_sleep (eOneMillisecond);
+    TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[0]);
+
+    return TxResult;
+}
+
+
+/*
+uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size)
+{
+    int TxResult = 0;
+    uint8_t i = 1;//change to ADD0 and send the rest of bytes (1..Size)
+    const uint8_t Save_Size = size;
+
+    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
+    Task_sleep (eOneMillisecond);
+    TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[0]);
+
+    BTSR_Change_Comm_Mode(TX_NOT_FIRST_BYTE);
+    Task_sleep (eOneMillisecond);
+
+    while(size)
+    {
+        if(size <= 16) //FIFO is working for data up to 16 bytes
+        {
+            for(; i < Save_Size; i++)
+            {
+                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
+            }
+            size = 0;// all sent
+        }
+        else
+        {
+            for(; i < 16; i++)
+            {
+                TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
+            }
+            size -= 16;
+        }
+
+        while(HWREG(UART4_BASE + UART_O_FR) & UART_FR_BUSY)//UARTFR
+        {
+            if(TX_Timeout)
+            {
+                TX_Timeout--;
+            }
+            else
+                return ERROR;
+        }
+    }
+
+    UART4_RS485_Direction(RX);
+
+    return TxResult;
+}
+*/
+uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size)//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
+{
+    int TxResult = 0;
+    uint8_t i = 0;
+
+    if((Buf[4] != 0x06) || (size < 3))
+        return ERROR;
+
+    BTSR_Change_Comm_Mode(TX_FIRST_BYTE);
+    Task_sleep (eOneMillisecond);
+
+    for(i = 0; i < 3; i++)
+    {
+        TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
+        Task_sleep (eOneMillisecond);
+    }
+
+    BTSR_Change_Comm_Mode(TX_NOT_FIRST_BYTE);
+    Task_sleep (eOneMillisecond);
+
+    for(; i < size; i++)
+    {
+        TxResult |=ROM_UARTCharPutNonBlocking(UART4_BASE,Buf[i]);
+    }
+
+    while(HWREG(UART4_BASE + UART_O_FR) & UART_FR_BUSY)//UARTFR
+    {
+        if(TX_Timeout)
+        {
+            TX_Timeout--;
+        }
+        else
+            return ERROR;
+    }
+    UART4_RS485_Direction(RX);
+
+    return TxResult;
+}
+
+uint8_t BTSR_RECEIVE_Buf(uint8_t *Buf, uint8_t size) //to test with BTSR_Set_Parmeters(0x01,SHOES,ALL_YARNS);
+{
+    uint8_t i = 0;
+
+    BTSR_Change_Comm_Mode(RX);
+
+    while(UARTCharsAvail(UART4_BASE) == false)//true if there is data in the receive FIFO or false if there is no data in the receive FIFO
+    {
+        if(RX_Timeout)
+        {
+            RX_Timeout--;
+        }
+        else
+            return ERROR;
+    }
+
+    memset (BTSR_RX_Buff,0,sizeof(BTSR_RX_Buff));
+
+    i=0;
+    while(UARTCharsAvail(UART4_BASE) == true)
+    {
+        BTSR_RX_Buff[i] = ROM_UARTCharGetNonBlocking(UART4_BASE);//Receive data
+        i++;
+    }
+//    for(i=0;i<4;i++)
+//    {
+//        BTSR_RX_Buff[i] = ROM_UARTCharGetNonBlocking(UART4_BASE);//Receive data
+//    }
+
+    if(size == i)
+        return OK;//as expected
+    return ERROR;
+}
+
+uint8_t BTSR_Set_Parmeters(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type )
+{
+    //uint16_t Sum = 0;
+    //uint8_t i = 0;
+
+    //BTSR_RX_Buff[0] = 0;
+
+    Typology_Set.String.Code = BTSR_Id;
+    Typology_Set.String.Function = 0x3F;
+    Typology_Set.String.Data[0] = Application;
+    Typology_Set.String.Data[1] = Yarn_Type;
+    BTSR_Calculate_CheckSum(Typology_Set.Buf,(sizeof(Typology_Set.Buf))- 2);
+    /*
+    for(i=0;i<(sizeof(Typology_Set) - sizeof(Typology_Set.String.Check));i++)
+    {
+        Sum += Typology_Set.Buf[i];
+    }
+    Typology_Set.String.Check[0] = Sum & 0xFF;
+    Typology_Set.String.Check[1] = Sum >> 8;
+*/
+
+
+    BTSR_Send_Buf(Typology_Set.Buf, sizeof(Typology_Set));
+
+    //BTSR_RECEIVE_Buf(BTSR_RX_Buff, 1);
+
+/*
+    if(BTSR_RX_Buff[0] == 0xFB)
+        return OK;
+    else
+        return ERROR;
+        */
+    return BTSR_RX_Buff[0];
+}
+
+
+//------------------------------------------------------------------------
+
+
+typedef union
+{
+    struct
+    {
+        uint8_t Data[2];
+        uint8_t Check[2];
+    }String;
+    uint8_t Buf[4];
+}BTSR_2_2;
+
+typedef union
+{
+    struct
+    {
+        uint8_t  Code;
+        uint8_t  Function;
+        uint8_t Check[2];
+    }String;
+    uint8_t Buf[4];
+}BTSR_1_1_2;
+
+BTSR_1_1_2 Status_Read_Command;//ALARM AND ENABLING STATUS READ
+BTSR_2_2   Status_Read_Response;
+
+uint8_t BTSR_Read_Status(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type )
+{
+    uint16_t Sum = 0;
+    uint8_t i = 0;
+
+    Typology_Set.String.Code = BTSR_Id;
+    Typology_Set.String.Function = 0x1F;
+    for(i=0;i<(sizeof(Typology_Set) - sizeof(Typology_Set.String.Check));i++)
+    {
+        Sum += Typology_Set.Buf[i];
+    }
+    Typology_Set.String.Check[0] = Sum & 0xFF;
+    Typology_Set.String.Check[1] = Sum >> 8;
+
+    BTSR_Send_Buf(Typology_Set.Buf, sizeof(Typology_Set));
+
+    BTSR_RECEIVE_Buf(BTSR_RX_Buff, 6);
+
+    for(i=0;i<(sizeof(Status_Read_Response) - sizeof(Status_Read_Response.String.Check));i++)
+    {
+        Sum += BTSR_RX_Buff[i];
+    }
+    if( (BTSR_RX_Buff[sizeof(Status_Read_Response) - 2] == Sum & 0xFF) &&
+        (BTSR_RX_Buff[sizeof(Status_Read_Response) - 1] == Sum >> 8)      )
+    {
+        for(i=0;i<(sizeof(Status_Read_Response) - sizeof(Status_Read_Response.String.Check));i++)
+        {
+            Status_Read_Response.Buf[i] = BTSR_RX_Buff[i];
+        }
+        return OK;
+    }
+    else
+        return ERROR;
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
new file mode 100644
index 000000000..14fda8f19
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/BTSR/BTSR.h
@@ -0,0 +1,65 @@
+/*
+ * BTSR.h
+ *
+ *  Created on: 1 Dec 2020
+ *      Author: avi
+ */
+
+#ifndef DRIVERS_UART_COMM_BTSR_BTSR_H_
+#define DRIVERS_UART_COMM_BTSR_BTSR_H_
+
+#define  Max_BTSR_RX_Bytes 55
+#define  Max_BTSR_TX_Bytes 40
+
+typedef enum
+{
+    SOCKS          = 1 ,
+    REVERSE_SOCKS  = 2 ,
+    MEDICAL_SOCKS  = 3 ,
+    PANTYHOSE      = 4 ,
+    SEAMLESS       = 5 ,
+    KNIT           = 6 ,
+    REVERSE_KNIT   = 7 ,
+    RASCHEL        = 8 ,
+    SEWING         = 9 ,
+    FLAT_KNIT      = 10,
+    SMALL_LOOM     = 11,
+    SHOES          = 12,
+    FLAT_SHOES     = 21,
+    INLAY          = 22,
+    WARP           = 34,
+    REWIND         = 35,
+}BTSR_APPLICATION;
+
+typedef enum
+{
+    ELASTOMERIC_YARN = 1,
+    ALL_YARNS        = 2,
+    ALL_YARNS2       = 3,
+    ALL_YARNS3       = 4,
+    ELASTIC2         = 5,
+    ELASTIC3         = 6,
+}BTSR_YARN_TYPE;
+
+typedef enum
+{
+    BTSR_RISP_OK = 0xFB,
+    BTSR_RISP_FAILED = 0xFA,
+    BTSR_RISP_OUT_OF_RANFE = 0xF9,
+}BTSR_RISP_BYTE;
+
+extern uint8_t BTSR_RX_Buff[Max_BTSR_RX_Bytes];
+
+unsigned long UARTStatus();
+bool BTSR_Change_Comm_Mode(uint8_t Mode);
+uint8_t BTSR_Auto_Identify(uint8_t BTSR_Id);//AUTOMATIC IDENTIFICATION PROCEDURE (IDENTIFY)
+uint8_t BTSR_Set_Parmeters(uint8_t BTSR_Id, uint8_t Application, uint8_t Yarn_Type );
+
+uint8_t BTSR_Send_Buf(uint8_t *Buf, uint8_t size);
+uint8_t BTSR_RECEIVE_Buf(uint8_t *Buf, uint8_t size);
+uint8_t BTSR_Calculate_CheckSum(uint8_t *Buf, uint8_t size_without_Checksum);
+uint8_t Check_Received_CheckSum(uint8_t CODE_STRING, uint8_t Function_Code, uint8_t *Buf, uint8_t size_include_Checksum);
+uint8_t BTSR_Send_Buf_3xADD1(uint8_t *Buf, uint8_t size);//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
+void InitConsole_BTSR_UART4(int32_t ui32SysClock);
+
+#endif /* DRIVERS_UART_COMM_BTSR_BTSR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.c
index 771a67f81..17427407e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.c
@@ -112,6 +112,7 @@ uint8_t Uart3_Transmit(uint8_t * Uart3_Tx_Buff, uint32_t Length)
 uint8_t Uart3_Receive(uint8_t * Uart3_Rx_Buff, uint32_t RX_Length)
 {
     uint8_t i,Status = OK;
+    uint8_t timeout = 5;
 
     uint8_t temp_buf[Size_Shinko_Res];
 
@@ -119,7 +120,11 @@ uint8_t Uart3_Receive(uint8_t * Uart3_Rx_Buff, uint32_t RX_Length)
     {
         for(i=0;i<RX_Length;i++)
         {
-            temp_buf[i] = ROM_UARTCharGet/*NonBlocking*/(UART3_BASE);//Receive data
+            while((UARTCharsAvail(UART3_BASE) != true) && timeout)
+            {
+                Task_sleep (eOneMillisecond);
+            }
+            temp_buf[i] = ROM_UARTCharGetNonBlocking(UART3_BASE);//Receive data
             if ((i == 0) && (temp_buf[0] == 0) )// There isn't communication / The controller is not connected - Shinko_Header_Asccii_ACK = 0x06
             {
                     Status = ERROR;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 16334a0ad..c1eeff837 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -44,6 +44,7 @@
 #include <Drivers/I2C_Communication/I2C.h>
 #include "drivers/Uart_Comm/WHS_Controller_Comm/WHS_UART/WHS_Uart.h"
 #include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
 
 /*
 #include "Drivers/SPI_SDCARD/SDSPI.h"
@@ -396,6 +397,9 @@ int main(void)
         Trigger_RS485_Direction_Init();//init i/o
     }
 
+    #ifdef USE_UART4_FOR_BTSR
+        InitConsole_BTSR_UART4(ui32SysClock);
+    #endif
 	//EMAC_initEMAC();
     ControlInit();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 73282fa97..659a308db 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -52,6 +52,7 @@
 
 #include "StateMachines/Initialization/PowerOffSequence.h"
 #include "StateMachines/Initialization/PowerIdle.h"
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
 
 extern HeadBoardTempSensConfigStruc  HeadTempSensConfig[MAX_HEAD_CARD_TEMP_SENS_ID];
 extern float NumberOfRotationPerPassage;  // how many rotations per spool passage
@@ -90,7 +91,19 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     uint8_t ReadBackReg[1];
 
-
+    if(request->amount == 0xFEED)//BTSR Feeder
+    {
+        if((request->delay) >> 4 == 0)
+        {
+            response.progress = BTSR_Auto_Identify(request->delay & 0xF);
+        }
+        else
+        {
+            response.progress = BTSR_Set_Parmeters(request->delay & 0xF,(request->delay & 0xFF00)>>8,(request->delay & 0xFF0000)>>16);
+        }
+        response.has_progress = true;
+    }
+    else
     if(request->amount == 0xacc1e)
     {
         response.progress = IDS_Cleaning_Move_Actuators();
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
index e749b41ec..d07a4de59 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -28,6 +28,12 @@
 #include "Stub_Status.h"
 #include "drivers/I2C_Communication/I2C.h"
 
+
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
+
+static uint8_t CODE_STRING;//BTSR ID needed to check the checksum, in the response for FUNCTION_STRING = 0x33/0x1C
+static uint8_t Function_Code;//needed to check the checksum, in the response for FUNCTION_STRING = 0x33/0x1C
+
 void Stub_I2CRequest(MessageContainer* requestContainer)
 {
 
@@ -91,33 +97,134 @@ void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer)
     response.slaveaddress = request->slaveaddress;
     response.has_slaveaddress = true;
 
-    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
-    //response.has_readbyte= true;
+//    if(request->i2cid != 0xFEED)//BTSR FEEDR (Script identification)
+//    {
+//
+//        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+//        //response.has_readbyte= true;
+//
+//        //--------------------------
+//
+//        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+//        //response.has_readbyte= true;
+//
+//        uint8_t I2C_W_buf[256] = {0},i;
+//
+//        for(i = 0; i < request->n_bytestwrite;i++)
+//        {
+//            I2C_W_buf[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+//        }
+//
+//        //response.readbytes = I2C_W_buf;
+//        //response.n_readbytes = request->n_bytestwrite;
+//
+//        //-------------------------------
+//
+//
+//        //----------------------
+//
+//        status = I2C_Write/*Write_I2C*/(request->i2cid, request->slaveaddress, I2C_W_buf, request->n_bytestwrite);
+//
+//    }
+//    else
+//    {
+//        //--------------- RS485 BTSR FEEDR ---------------
+//
+//
+//        uint8_t BTSR_TX_Buff[Max_BTSR_TX_Bytes] = {0},i;
+//
+//        for(i = 0; i < request->n_bytestwrite;i++)
+//        {
+//            BTSR_TX_Buff[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+//        }
+//
+//        CODE_STRING = BTSR_TX_Buff[0];
+//        Function_Code = BTSR_TX_Buff[1];
+//
+//        if(request->slaveaddress)//Auto_Calc_CheckSum
+//        {
+//            BTSR_Calculate_CheckSum(BTSR_TX_Buff,request->n_bytestwrite);
+//            BTSR_Send_Buf(BTSR_TX_Buff, request->n_bytestwrite + 2);//2 bytes of CheckSum
+//        }
+//        else
+//        {
+//            BTSR_Send_Buf(BTSR_TX_Buff, request->n_bytestwrite);
+//        }
+//
+//        Task_sleep (10);
+//        BTSR_RECEIVE_Buf(BTSR_RX_Buff, 0);//size not in use (need to ignore the returned error)
+//
+//
+//    }
+    if((request->i2cid != 0xFEED) && (request->i2cid != 0xFEED3ADD))//BTSR FEEDR (Script identification)
+    {
 
-    //--------------------------
+        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+        //response.has_readbyte= true;
 
-    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
-    //response.has_readbyte= true;
+        //--------------------------
 
-    uint8_t I2C_W_buf[256] = {0},i;
+        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+        //response.has_readbyte= true;
+
+        uint8_t I2C_W_buf[256] = {0},i;
+
+        for(i = 0; i < request->n_bytestwrite;i++)
+        {
+            I2C_W_buf[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+        }
+
+        //response.readbytes = I2C_W_buf;
+        //response.n_readbytes = request->n_bytestwrite;
+
+        //-------------------------------
+
+
+        //----------------------
+
+        status = I2C_Write/*Write_I2C*/(request->i2cid, request->slaveaddress, I2C_W_buf, request->n_bytestwrite);
 
-    for(i = 0; i < request->n_bytestwrite;i++)
-    {
-        I2C_W_buf[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
     }
+    else
+    {
+        //--------------- RS485 BTSR FEEDR ---------------
 
-    //response.readbytes = I2C_W_buf;
-    //response.n_readbytes = request->n_bytestwrite;
 
-    //-------------------------------
+        uint8_t BTSR_TX_Buff[Max_BTSR_TX_Bytes] = {0},i;
 
+        for(i = 0; i < request->n_bytestwrite;i++)
+        {
+            BTSR_TX_Buff[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+        }
 
-    //----------------------
+        CODE_STRING = BTSR_TX_Buff[0];
 
-    status = I2C_Write/*Write_I2C*/(request->i2cid, request->slaveaddress, I2C_W_buf, request->n_bytestwrite);
+        if(request->i2cid == 0xFEED3ADD)//Only for commands with 3 bytes with Address 1 (0x06/0xFD)
+        {
 
+            Function_Code = BTSR_TX_Buff[4];
 
-    //--------------------------
+            BTSR_Send_Buf_3xADD1(BTSR_TX_Buff, request->n_bytestwrite);
+        }
+        else
+        {
+            Function_Code = BTSR_TX_Buff[1];
+
+            if(request->slaveaddress)//Auto_Calc_CheckSum
+            {
+                BTSR_Calculate_CheckSum(BTSR_TX_Buff,request->n_bytestwrite);
+                BTSR_Send_Buf(BTSR_TX_Buff, request->n_bytestwrite + 2);//2 bytes of CheckSum
+            }
+            else
+            {
+                BTSR_Send_Buf(BTSR_TX_Buff, request->n_bytestwrite);
+            }
+        }
+        //Task_sleep (10);
+        //BTSR_RECEIVE_Buf(BTSR_RX_Buff, 0);//size not in use (need to ignore the returned error)
+
+
+    }
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
@@ -150,27 +257,48 @@ void Stub_I2CReadBytesRequest(MessageContainer* requestContainer)
     response.slaveaddress = request->slaveaddress;
     response.has_slaveaddress = true;
 
-    status = I2C_Read/*Read_I2C*/(request->i2cid, request->slaveaddress, I2C_R_buf, request->numberofbytestoread);
+    if(request->i2cid != 0xFEED)//BTSR FEEDR (Script identification)
+    {
 
-    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
-    //response.has_readbyte= true;
+        status = I2C_Read/*Read_I2C*/(request->i2cid, request->slaveaddress, I2C_R_buf, request->numberofbytestoread);
 
-    //--------------------------
+        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+        //response.has_readbyte= true;
 
-    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
-    //response.has_readbyte= true;
+        //--------------------------
 
-    //uint32_t I2C_W_buf[256] = {0},i;
+        //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+        //response.has_readbyte= true;
 
-    for(i = 0; i < request->numberofbytestoread;i++)
-    {
-        I2C_R32_buf[i]= (uint32_t)I2C_R_buf[i] ;
+        //uint32_t I2C_W_buf[256] = {0},i;
+
+        for(i = 0; i < request->numberofbytestoread;i++)
+        {
+            I2C_R32_buf[i]= (uint32_t)I2C_R_buf[i] ;
+        }
+
+
+        response.readbytes = I2C_R32_buf;
+        response.n_readbytes = request->numberofbytestoread;
+
+        //-------------------------------
     }
+    else
+    {
+        //--------------- RS485 BTSR FEEDR ---------------
+        for(i = 0; i < request->numberofbytestoread - request->slaveaddress;i++)
+        {
+            I2C_R32_buf[i]= (uint32_t)BTSR_RX_Buff[i] ;
+        }
 
-    response.readbytes = I2C_R32_buf;
-    response.n_readbytes = request->numberofbytestoread;
+        if(((request->numberofbytestoread- request->slaveaddress) > 2) && (request->slaveaddress))//Verify_Received_CheckSum
+        {
+            I2C_R32_buf[i] = Check_Received_CheckSum(CODE_STRING, Function_Code, BTSR_RX_Buff, (request->numberofbytestoread - request->slaveaddress));//use the next byte to return the checksum status
+        }
+        response.readbytes = I2C_R32_buf;
+        response.n_readbytes = request->numberofbytestoread;
+    }
 
-    //-------------------------------
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 8b72c1a30..4ced1e5fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -714,6 +714,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             NormalizedError = (-1*NormalizedError);
         }
+/*#ifdef BTSR_ROTATED_WINDER_TFU
+        if (index == WINDER_MOTOR)
+                TranslatedReadValue = (-1*TranslatedReadValue);
+#endif*/
 
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         DancerError[DancerId] = NormalizedError;